\hypertarget{structDataBus}{}\doxysection{Data\+Bus Struct Reference}
\label{structDataBus}\index{DataBus@{DataBus}}
\doxysubsection*{Public Types}
\begin{DoxyCompactItemize}
\item 
\mbox{\Hypertarget{structDataBus_a0dcb8a4552bb6b37259a61d601cd7d7e}\label{structDataBus_a0dcb8a4552bb6b37259a61d601cd7d7e}} 
enum {\bfseries Leg\+State} \{ {\bfseries LSt}
, {\bfseries RSt}
, {\bfseries DSt}
 \}
\end{DoxyCompactItemize}
\doxysubsection*{Public Member Functions}
\begin{DoxyCompactItemize}
\item 
\mbox{\Hypertarget{structDataBus_a2fe45f9893482708677ee68305685b72}\label{structDataBus_a2fe45f9893482708677ee68305685b72}} 
{\bfseries Data\+Bus} (int model\+\_\+nv\+In)
\item 
\mbox{\Hypertarget{structDataBus_a1673b53d2c783faaf80cb549c2065d78}\label{structDataBus_a1673b53d2c783faaf80cb549c2065d78}} 
void {\bfseries updateQ} ()
\item 
\mbox{\Hypertarget{structDataBus_af2ffb1739963462a7dfc20fc1e4a6192}\label{structDataBus_af2ffb1739963462a7dfc20fc1e4a6192}} 
Eigen\+::\+Matrix$<$ double, 3, 3 $>$ {\bfseries eul2\+Rot} (double roll, double pitch, double yaw)
\item 
\mbox{\Hypertarget{structDataBus_ad2308a852d46c6b1471c2253bd129620}\label{structDataBus_ad2308a852d46c6b1471c2253bd129620}} 
Eigen\+::\+Quaterniond {\bfseries eul2quat} (double roll, double pitch, double yaw)
\end{DoxyCompactItemize}
\doxysubsection*{Static Public Member Functions}
\begin{DoxyCompactItemize}
\item 
\mbox{\Hypertarget{structDataBus_addcaefa0eeba96ed370e8b24e4ebd940}\label{structDataBus_addcaefa0eeba96ed370e8b24e4ebd940}} 
static void {\bfseries printdq} (const Eigen\+::\+Vector\+Xd \&q)
\item 
\mbox{\Hypertarget{structDataBus_a8879e68efdd97fdada83e7b28b3c4bca}\label{structDataBus_a8879e68efdd97fdada83e7b28b3c4bca}} 
static void {\bfseries printq} (const Eigen\+::\+Vector\+Xd \&q)
\end{DoxyCompactItemize}
\doxysubsection*{Public Attributes}
\begin{DoxyCompactItemize}
\item 
\mbox{\Hypertarget{structDataBus_ab9671a85da9b64c8be6c8d7d822c3db9}\label{structDataBus_ab9671a85da9b64c8be6c8d7d822c3db9}} 
const int {\bfseries model\+\_\+nv}
\item 
\mbox{\Hypertarget{structDataBus_ae91319ee83a8cf354911f14955449283}\label{structDataBus_ae91319ee83a8cf354911f14955449283}} 
const Eigen\+::\+Matrix3d {\bfseries fe\+\_\+\+L\+\_\+rot\+\_\+\+L\+\_\+off} =(Eigen\+::\+Matrix\+Xd(3,3)$<$$<$ 1,0,0, 0,1,0, 0,0,1).finished()
\item 
\mbox{\Hypertarget{structDataBus_af13c859c256c7844154a2aac483123bd}\label{structDataBus_af13c859c256c7844154a2aac483123bd}} 
const Eigen\+::\+Matrix3d {\bfseries fe\+\_\+\+R\+\_\+rot\+\_\+\+L\+\_\+off} =(Eigen\+::\+Matrix\+Xd(3,3)$<$$<$ 1,0,0, 0,1,0, 0,0,1).finished()
\item 
\mbox{\Hypertarget{structDataBus_a9b45a5287b92f51cc27899eee18f9ff2}\label{structDataBus_a9b45a5287b92f51cc27899eee18f9ff2}} 
double {\bfseries rpy} \mbox{[}3\mbox{]}
\item 
\mbox{\Hypertarget{structDataBus_aadc53e4bcea2d069903b5de3274d5058}\label{structDataBus_aadc53e4bcea2d069903b5de3274d5058}} 
double {\bfseries fL} \mbox{[}3\mbox{]}
\item 
\mbox{\Hypertarget{structDataBus_ab3279b454456687b2293f804b7e70390}\label{structDataBus_ab3279b454456687b2293f804b7e70390}} 
double {\bfseries fR} \mbox{[}3\mbox{]}
\item 
\mbox{\Hypertarget{structDataBus_a66bfad87a864abd89bd6a0308e65ebc4}\label{structDataBus_a66bfad87a864abd89bd6a0308e65ebc4}} 
double {\bfseries base\+Pos} \mbox{[}3\mbox{]}
\item 
\mbox{\Hypertarget{structDataBus_a5b79678006c606fc8e70a082f4fb1fe4}\label{structDataBus_a5b79678006c606fc8e70a082f4fb1fe4}} 
double {\bfseries base\+Lin\+Vel} \mbox{[}3\mbox{]}
\item 
\mbox{\Hypertarget{structDataBus_a0197a7fdd8fd08faa9981b7e9f758a2d}\label{structDataBus_a0197a7fdd8fd08faa9981b7e9f758a2d}} 
double {\bfseries base\+Acc} \mbox{[}3\mbox{]}
\item 
\mbox{\Hypertarget{structDataBus_acc95bd4d4d7820893823fc0ad5ac3526}\label{structDataBus_acc95bd4d4d7820893823fc0ad5ac3526}} 
double {\bfseries base\+Ang\+Vel} \mbox{[}3\mbox{]}
\item 
\mbox{\Hypertarget{structDataBus_a44f2d7d4c5921d086e842faf04d6b5e3}\label{structDataBus_a44f2d7d4c5921d086e842faf04d6b5e3}} 
std\+::vector$<$ double $>$ {\bfseries motors\+\_\+pos\+\_\+cur}
\item 
\mbox{\Hypertarget{structDataBus_a6e174173373c09044fe77214ac22d61b}\label{structDataBus_a6e174173373c09044fe77214ac22d61b}} 
std\+::vector$<$ double $>$ {\bfseries motors\+\_\+vel\+\_\+cur}
\item 
\mbox{\Hypertarget{structDataBus_a1996047c3f808dda9f4cc3944d0d486a}\label{structDataBus_a1996047c3f808dda9f4cc3944d0d486a}} 
std\+::vector$<$ double $>$ {\bfseries motors\+\_\+tor\+\_\+cur}
\item 
\mbox{\Hypertarget{structDataBus_ab45a37863d3650eb9fde838c427eea72}\label{structDataBus_ab45a37863d3650eb9fde838c427eea72}} 
Eigen\+::\+Vector\+Xd {\bfseries FL\+\_\+est}
\item 
\mbox{\Hypertarget{structDataBus_a15ddd144e2234a2bb6e33b8c2da92b8e}\label{structDataBus_a15ddd144e2234a2bb6e33b8c2da92b8e}} 
Eigen\+::\+Vector\+Xd {\bfseries FR\+\_\+est}
\item 
\mbox{\Hypertarget{structDataBus_a8426d381e3812f1223a8029f5f0ca5a3}\label{structDataBus_a8426d381e3812f1223a8029f5f0ca5a3}} 
std\+::vector$<$ double $>$ {\bfseries motors\+\_\+pos\+\_\+des}
\item 
\mbox{\Hypertarget{structDataBus_a0510f771e207671abbddd60b94cc58fb}\label{structDataBus_a0510f771e207671abbddd60b94cc58fb}} 
std\+::vector$<$ double $>$ {\bfseries motors\+\_\+vel\+\_\+des}
\item 
\mbox{\Hypertarget{structDataBus_a9c4fd58f3ce8b0d79f96431c45e3dc87}\label{structDataBus_a9c4fd58f3ce8b0d79f96431c45e3dc87}} 
std\+::vector$<$ double $>$ {\bfseries motors\+\_\+tor\+\_\+des}
\item 
\mbox{\Hypertarget{structDataBus_a146a3c93dea478ed4c2bc88d120a6204}\label{structDataBus_a146a3c93dea478ed4c2bc88d120a6204}} 
std\+::vector$<$ double $>$ {\bfseries motors\+\_\+tor\+\_\+out}
\item 
\mbox{\Hypertarget{structDataBus_a1edc3a08678a00bdb4eb755a3157ec9b}\label{structDataBus_a1edc3a08678a00bdb4eb755a3157ec9b}} 
Eigen\+::\+Vector\+Xd {\bfseries q}
\item 
\mbox{\Hypertarget{structDataBus_a1e20ca2abda0e8342aa07eaf4b7adaa4}\label{structDataBus_a1e20ca2abda0e8342aa07eaf4b7adaa4}} 
Eigen\+::\+Vector\+Xd {\bfseries dq}
\item 
\mbox{\Hypertarget{structDataBus_a0564a337e371809806d164ce3946de28}\label{structDataBus_a0564a337e371809806d164ce3946de28}} 
Eigen\+::\+Vector\+Xd {\bfseries ddq}
\item 
\mbox{\Hypertarget{structDataBus_acca5e5ffdbc107b465d5c291617e34a6}\label{structDataBus_acca5e5ffdbc107b465d5c291617e34a6}} 
Eigen\+::\+Vector\+Xd {\bfseries q\+Old}
\item 
\mbox{\Hypertarget{structDataBus_a72d6adca7adb79b4ed026eb6a75b7dce}\label{structDataBus_a72d6adca7adb79b4ed026eb6a75b7dce}} 
Eigen\+::\+Matrix\+Xd {\bfseries J\+\_\+base}
\item 
\mbox{\Hypertarget{structDataBus_a3d71c2856c6ecbfec729a09024d026f8}\label{structDataBus_a3d71c2856c6ecbfec729a09024d026f8}} 
Eigen\+::\+Matrix\+Xd {\bfseries J\+\_\+l}
\item 
\mbox{\Hypertarget{structDataBus_a8901e359598639544806c2ccde5cc7b3}\label{structDataBus_a8901e359598639544806c2ccde5cc7b3}} 
Eigen\+::\+Matrix\+Xd {\bfseries J\+\_\+r}
\item 
\mbox{\Hypertarget{structDataBus_a160475450d1af7e42d88d345c498f5ae}\label{structDataBus_a160475450d1af7e42d88d345c498f5ae}} 
Eigen\+::\+Matrix\+Xd {\bfseries J\+\_\+hd\+\_\+l}
\item 
\mbox{\Hypertarget{structDataBus_a8174314fc64353b48695467949dddb20}\label{structDataBus_a8174314fc64353b48695467949dddb20}} 
Eigen\+::\+Matrix\+Xd {\bfseries J\+\_\+hd\+\_\+r}
\item 
\mbox{\Hypertarget{structDataBus_ad3ec45a371e1a6cb72a158e651647cd6}\label{structDataBus_ad3ec45a371e1a6cb72a158e651647cd6}} 
Eigen\+::\+Matrix\+Xd {\bfseries d\+J\+\_\+base}
\item 
\mbox{\Hypertarget{structDataBus_af02ef8e966761be5381e8f8ce1f4f324}\label{structDataBus_af02ef8e966761be5381e8f8ce1f4f324}} 
Eigen\+::\+Matrix\+Xd {\bfseries d\+J\+\_\+l}
\item 
\mbox{\Hypertarget{structDataBus_aad4b760c5cb1103d2409810f887cace3}\label{structDataBus_aad4b760c5cb1103d2409810f887cace3}} 
Eigen\+::\+Matrix\+Xd {\bfseries d\+J\+\_\+r}
\item 
\mbox{\Hypertarget{structDataBus_a6e6e46a9c55551f1f13b82d9f62ec1fc}\label{structDataBus_a6e6e46a9c55551f1f13b82d9f62ec1fc}} 
Eigen\+::\+Matrix\+Xd {\bfseries d\+J\+\_\+hd\+\_\+l}
\item 
\mbox{\Hypertarget{structDataBus_ab99c2d927ac41782cefe44509bf20322}\label{structDataBus_ab99c2d927ac41782cefe44509bf20322}} 
Eigen\+::\+Matrix\+Xd {\bfseries d\+J\+\_\+hd\+\_\+r}
\item 
\mbox{\Hypertarget{structDataBus_a1bb8296c8580550caf059e975149658e}\label{structDataBus_a1bb8296c8580550caf059e975149658e}} 
Eigen\+::\+Vector3d {\bfseries fe\+\_\+r\+\_\+pos\+\_\+W}
\item 
\mbox{\Hypertarget{structDataBus_a05ae4114523a0df9822667297ba5046d}\label{structDataBus_a05ae4114523a0df9822667297ba5046d}} 
Eigen\+::\+Vector3d {\bfseries fe\+\_\+l\+\_\+pos\+\_\+W}
\item 
\mbox{\Hypertarget{structDataBus_a7bb7e1397ba963e17e1f840cc7abd610}\label{structDataBus_a7bb7e1397ba963e17e1f840cc7abd610}} 
Eigen\+::\+Vector3d {\bfseries base\+\_\+pos}
\item 
\mbox{\Hypertarget{structDataBus_ad8eeb01c84d65c903a3e6190925af3f2}\label{structDataBus_ad8eeb01c84d65c903a3e6190925af3f2}} 
Eigen\+::\+Matrix3d {\bfseries fe\+\_\+r\+\_\+rot\+\_\+W}
\item 
\mbox{\Hypertarget{structDataBus_a97432e506d995437e3cb622002cac9d4}\label{structDataBus_a97432e506d995437e3cb622002cac9d4}} 
Eigen\+::\+Matrix3d {\bfseries fe\+\_\+l\+\_\+rot\+\_\+W}
\item 
\mbox{\Hypertarget{structDataBus_a0113f7940144a8e35089fd9818e8d70b}\label{structDataBus_a0113f7940144a8e35089fd9818e8d70b}} 
Eigen\+::\+Matrix3d {\bfseries base\+\_\+rot}
\item 
\mbox{\Hypertarget{structDataBus_ad4c67bd1538d0e0c6f101de61219666a}\label{structDataBus_ad4c67bd1538d0e0c6f101de61219666a}} 
Eigen\+::\+Vector3d {\bfseries fe\+\_\+r\+\_\+pos\+\_\+L}
\item 
\mbox{\Hypertarget{structDataBus_a3300095871d62258ed87b0a8b00e6b95}\label{structDataBus_a3300095871d62258ed87b0a8b00e6b95}} 
Eigen\+::\+Vector3d {\bfseries fe\+\_\+l\+\_\+pos\+\_\+L}
\item 
\mbox{\Hypertarget{structDataBus_a614b57b26f48851c0da4a87721efe71b}\label{structDataBus_a614b57b26f48851c0da4a87721efe71b}} 
Eigen\+::\+Vector3d {\bfseries hip\+\_\+r\+\_\+pos\+\_\+L}
\item 
\mbox{\Hypertarget{structDataBus_a202f9dff68b4a72cca3ee73d6e80553e}\label{structDataBus_a202f9dff68b4a72cca3ee73d6e80553e}} 
Eigen\+::\+Vector3d {\bfseries hip\+\_\+l\+\_\+pos\+\_\+L}
\item 
\mbox{\Hypertarget{structDataBus_a28192a2cec986c703498af32d7b1de54}\label{structDataBus_a28192a2cec986c703498af32d7b1de54}} 
Eigen\+::\+Vector3d {\bfseries hip\+\_\+r\+\_\+pos\+\_\+W}
\item 
\mbox{\Hypertarget{structDataBus_a2481f4929359c2f0fbdb6924f5f77958}\label{structDataBus_a2481f4929359c2f0fbdb6924f5f77958}} 
Eigen\+::\+Vector3d {\bfseries hip\+\_\+l\+\_\+pos\+\_\+W}
\item 
\mbox{\Hypertarget{structDataBus_a8e2b1bd1613049d6fa70ae08830aa034}\label{structDataBus_a8e2b1bd1613049d6fa70ae08830aa034}} 
Eigen\+::\+Matrix3d {\bfseries fe\+\_\+r\+\_\+rot\+\_\+L}
\item 
\mbox{\Hypertarget{structDataBus_a95d6800597841b02f27880933a50ef70}\label{structDataBus_a95d6800597841b02f27880933a50ef70}} 
Eigen\+::\+Matrix3d {\bfseries fe\+\_\+l\+\_\+rot\+\_\+L}
\item 
\mbox{\Hypertarget{structDataBus_a38c64e972770545c6756d4d942dbaef4}\label{structDataBus_a38c64e972770545c6756d4d942dbaef4}} 
Eigen\+::\+Vector3d {\bfseries fe\+\_\+r\+\_\+pos\+\_\+\+L\+\_\+cmd}
\item 
\mbox{\Hypertarget{structDataBus_a5803b796bfc91a296508483241e3b2b0}\label{structDataBus_a5803b796bfc91a296508483241e3b2b0}} 
Eigen\+::\+Vector3d {\bfseries fe\+\_\+l\+\_\+pos\+\_\+\+L\+\_\+cmd}
\item 
\mbox{\Hypertarget{structDataBus_ae96ef6b47b338248de9ba62fb99b7879}\label{structDataBus_ae96ef6b47b338248de9ba62fb99b7879}} 
Eigen\+::\+Matrix3d {\bfseries fe\+\_\+r\+\_\+rot\+\_\+\+L\+\_\+cmd}
\item 
\mbox{\Hypertarget{structDataBus_a2bb16ba735000cbab0dfa8de182a11ab}\label{structDataBus_a2bb16ba735000cbab0dfa8de182a11ab}} 
Eigen\+::\+Matrix3d {\bfseries fe\+\_\+l\+\_\+rot\+\_\+\+L\+\_\+cmd}
\item 
\mbox{\Hypertarget{structDataBus_aa1bf2f25cbec034e564125d6890df8f7}\label{structDataBus_aa1bf2f25cbec034e564125d6890df8f7}} 
Eigen\+::\+Vector3d {\bfseries hd\+\_\+r\+\_\+pos\+\_\+W}
\item 
\mbox{\Hypertarget{structDataBus_a9582a6fdf672e9dd3f08a390758aafaf}\label{structDataBus_a9582a6fdf672e9dd3f08a390758aafaf}} 
Eigen\+::\+Vector3d {\bfseries hd\+\_\+l\+\_\+pos\+\_\+W}
\item 
\mbox{\Hypertarget{structDataBus_a2ebe414c042f067bc8819b43c9436832}\label{structDataBus_a2ebe414c042f067bc8819b43c9436832}} 
Eigen\+::\+Matrix3d {\bfseries hd\+\_\+r\+\_\+rot\+\_\+W}
\item 
\mbox{\Hypertarget{structDataBus_a0b4be606ac9be86dc76f6e562d4af358}\label{structDataBus_a0b4be606ac9be86dc76f6e562d4af358}} 
Eigen\+::\+Matrix3d {\bfseries hd\+\_\+l\+\_\+rot\+\_\+W}
\item 
\mbox{\Hypertarget{structDataBus_ab7eb16bbdf791e8f4e08e10cacf9e1fa}\label{structDataBus_ab7eb16bbdf791e8f4e08e10cacf9e1fa}} 
Eigen\+::\+Vector3d {\bfseries hd\+\_\+r\+\_\+pos\+\_\+L}
\item 
\mbox{\Hypertarget{structDataBus_aa460fea6d01355839c3508373c607170}\label{structDataBus_aa460fea6d01355839c3508373c607170}} 
Eigen\+::\+Vector3d {\bfseries hd\+\_\+l\+\_\+pos\+\_\+L}
\item 
\mbox{\Hypertarget{structDataBus_a30ea99f034a267da0c909900a972f132}\label{structDataBus_a30ea99f034a267da0c909900a972f132}} 
Eigen\+::\+Matrix3d {\bfseries hd\+\_\+r\+\_\+rot\+\_\+L}
\item 
\mbox{\Hypertarget{structDataBus_a938f8a1673963dde6924779b9377f3f6}\label{structDataBus_a938f8a1673963dde6924779b9377f3f6}} 
Eigen\+::\+Matrix3d {\bfseries hd\+\_\+l\+\_\+rot\+\_\+L}
\item 
\mbox{\Hypertarget{structDataBus_a985be244042640dea42db4147c4e625b}\label{structDataBus_a985be244042640dea42db4147c4e625b}} 
Eigen\+::\+Vector\+Xd {\bfseries q\+Cmd}
\item 
\mbox{\Hypertarget{structDataBus_a6a5d9134fc0bae50e92f0dbf4c827544}\label{structDataBus_a6a5d9134fc0bae50e92f0dbf4c827544}} 
Eigen\+::\+Vector\+Xd {\bfseries dq\+Cmd}
\item 
\mbox{\Hypertarget{structDataBus_a6c1e3ed7c41b379a2f60ba5ee67f2ed9}\label{structDataBus_a6c1e3ed7c41b379a2f60ba5ee67f2ed9}} 
Eigen\+::\+Vector\+Xd {\bfseries tau\+Joint\+Cmd}
\item 
\mbox{\Hypertarget{structDataBus_a89e3ed169f2093e233629aebeb105fbc}\label{structDataBus_a89e3ed169f2093e233629aebeb105fbc}} 
Eigen\+::\+Matrix\+Xd {\bfseries dyn\+\_\+M}
\item 
\mbox{\Hypertarget{structDataBus_a7ddad63ca212708e9e3c880567c9f99a}\label{structDataBus_a7ddad63ca212708e9e3c880567c9f99a}} 
Eigen\+::\+Matrix\+Xd {\bfseries dyn\+\_\+\+M\+\_\+inv}
\item 
\mbox{\Hypertarget{structDataBus_ac2c307051d65ea3679fdc630ac28bbc2}\label{structDataBus_ac2c307051d65ea3679fdc630ac28bbc2}} 
Eigen\+::\+Matrix\+Xd {\bfseries dyn\+\_\+C}
\item 
\mbox{\Hypertarget{structDataBus_ad7a084dee55715eb8e65307137d71ee5}\label{structDataBus_ad7a084dee55715eb8e65307137d71ee5}} 
Eigen\+::\+Matrix\+Xd {\bfseries dyn\+\_\+\+Ag}
\item 
\mbox{\Hypertarget{structDataBus_ae46a01b6e4a05927577e0f9a58bb9528}\label{structDataBus_ae46a01b6e4a05927577e0f9a58bb9528}} 
Eigen\+::\+Matrix\+Xd {\bfseries dyn\+\_\+d\+Ag}
\item 
\mbox{\Hypertarget{structDataBus_a29ea8abda4616465d07ecacf866f7ab6}\label{structDataBus_a29ea8abda4616465d07ecacf866f7ab6}} 
Eigen\+::\+Vector\+Xd {\bfseries dyn\+\_\+G}
\item 
\mbox{\Hypertarget{structDataBus_a377a7cdd1719fbdd45391759c52937f4}\label{structDataBus_a377a7cdd1719fbdd45391759c52937f4}} 
Eigen\+::\+Vector\+Xd {\bfseries dyn\+\_\+\+Non}
\item 
\mbox{\Hypertarget{structDataBus_ae779042fd8fb64ba3e21a505c5f1a6d6}\label{structDataBus_ae779042fd8fb64ba3e21a505c5f1a6d6}} 
Eigen\+::\+Vector3d {\bfseries base\+\_\+omega\+\_\+L}
\item 
\mbox{\Hypertarget{structDataBus_aafbebba614c6bc9e1cebd6a432a44ad2}\label{structDataBus_aafbebba614c6bc9e1cebd6a432a44ad2}} 
Eigen\+::\+Vector3d {\bfseries base\+\_\+omega\+\_\+W}
\item 
\mbox{\Hypertarget{structDataBus_a707d4278aa346e8677a87c95f6edb7bb}\label{structDataBus_a707d4278aa346e8677a87c95f6edb7bb}} 
Eigen\+::\+Vector3d {\bfseries base\+\_\+rpy}
\item 
\mbox{\Hypertarget{structDataBus_aede1ab3d0316d9f1d1f5275c35282f33}\label{structDataBus_aede1ab3d0316d9f1d1f5275c35282f33}} 
Eigen\+::\+Vector3d {\bfseries slop}
\item 
\mbox{\Hypertarget{structDataBus_ab6ca7b8900fc7dcda4925ce2f8ef65d7}\label{structDataBus_ab6ca7b8900fc7dcda4925ce2f8ef65d7}} 
Eigen\+::\+Matrix$<$ double, 3, 3 $>$ {\bfseries inertia}
\item 
\mbox{\Hypertarget{structDataBus_a92a868be7ed2d886f266e844399762dd}\label{structDataBus_a92a868be7ed2d886f266e844399762dd}} 
Eigen\+::\+Vector3d {\bfseries js\+\_\+eul\+\_\+des}
\item 
\mbox{\Hypertarget{structDataBus_a298ff350cb0f7dc9679fb90909aa4650}\label{structDataBus_a298ff350cb0f7dc9679fb90909aa4650}} 
Eigen\+::\+Vector3d {\bfseries js\+\_\+pos\+\_\+des}
\item 
\mbox{\Hypertarget{structDataBus_a176bf04fd501acfa68ee3083532df705}\label{structDataBus_a176bf04fd501acfa68ee3083532df705}} 
Eigen\+::\+Vector3d {\bfseries js\+\_\+omega\+\_\+des}
\item 
\mbox{\Hypertarget{structDataBus_a05de3821b1aa986adc8a98ec8469d55a}\label{structDataBus_a05de3821b1aa986adc8a98ec8469d55a}} 
Eigen\+::\+Vector3d {\bfseries js\+\_\+vel\+\_\+des}
\item 
\mbox{\Hypertarget{structDataBus_af419057fb271481e6a87001d5610eb8e}\label{structDataBus_af419057fb271481e6a87001d5610eb8e}} 
Eigen\+::\+Vector\+Xd {\bfseries Xd}
\item 
\mbox{\Hypertarget{structDataBus_af0d2fc25fbd40d7ac179b5779f2c40ff}\label{structDataBus_af0d2fc25fbd40d7ac179b5779f2c40ff}} 
Eigen\+::\+Vector\+Xd {\bfseries X\+\_\+cur}
\item 
\mbox{\Hypertarget{structDataBus_a0e9b3fcc75265308f10ba5862815087a}\label{structDataBus_a0e9b3fcc75265308f10ba5862815087a}} 
Eigen\+::\+Vector\+Xd {\bfseries X\+\_\+cal}
\item 
\mbox{\Hypertarget{structDataBus_acd18e8fba3e72021ab80a98aa369c8f4}\label{structDataBus_acd18e8fba3e72021ab80a98aa369c8f4}} 
Eigen\+::\+Vector\+Xd {\bfseries d\+X\+\_\+cal}
\item 
\mbox{\Hypertarget{structDataBus_afd875c0de2f7f46587f3ebe4ae73d2fa}\label{structDataBus_afd875c0de2f7f46587f3ebe4ae73d2fa}} 
Eigen\+::\+Vector\+Xd {\bfseries fe\+\_\+react\+\_\+tau\+\_\+cmd}
\item 
\mbox{\Hypertarget{structDataBus_aa0f7ebdfdf0f8f731c742bed2e6303ed}\label{structDataBus_aa0f7ebdfdf0f8f731c742bed2e6303ed}} 
double {\bfseries qp\+\_\+n\+WSR\+\_\+\+MPC}
\item 
\mbox{\Hypertarget{structDataBus_a6f017e61e7fc6b9c45ef671a710b34bc}\label{structDataBus_a6f017e61e7fc6b9c45ef671a710b34bc}} 
double {\bfseries qp\+\_\+cpu\+Time\+\_\+\+MPC}
\item 
\mbox{\Hypertarget{structDataBus_a252ca3e33ac63c8f45edfff68100189e}\label{structDataBus_a252ca3e33ac63c8f45edfff68100189e}} 
double {\bfseries qp\+Status\+\_\+\+MPC}
\item 
\mbox{\Hypertarget{structDataBus_af03f33eb3cb6bcf43ff21cee18b2a2e6}\label{structDataBus_af03f33eb3cb6bcf43ff21cee18b2a2e6}} 
Eigen\+::\+Vector3d {\bfseries base\+\_\+rpy\+\_\+des}
\item 
\mbox{\Hypertarget{structDataBus_ac4981d5de060aa4bb117f39c2563c6ba}\label{structDataBus_ac4981d5de060aa4bb117f39c2563c6ba}} 
Eigen\+::\+Vector3d {\bfseries base\+\_\+pos\+\_\+des}
\item 
\mbox{\Hypertarget{structDataBus_a131e7ab67172ee9934441b5c00187363}\label{structDataBus_a131e7ab67172ee9934441b5c00187363}} 
Eigen\+::\+Vector\+Xd {\bfseries des\+\_\+ddq}
\item 
\mbox{\Hypertarget{structDataBus_a4c495f9b2d97807c38e726dbada293a7}\label{structDataBus_a4c495f9b2d97807c38e726dbada293a7}} 
Eigen\+::\+Vector\+Xd {\bfseries des\+\_\+dq}
\item 
\mbox{\Hypertarget{structDataBus_a09bff47a59cfc71aff09f62df7f4f95e}\label{structDataBus_a09bff47a59cfc71aff09f62df7f4f95e}} 
Eigen\+::\+Vector\+Xd {\bfseries des\+\_\+delta\+\_\+q}
\item 
\mbox{\Hypertarget{structDataBus_aa1b32738002109b3d8dafb4fd61dac2f}\label{structDataBus_aa1b32738002109b3d8dafb4fd61dac2f}} 
Eigen\+::\+Vector\+Xd {\bfseries des\+\_\+q}
\item 
\mbox{\Hypertarget{structDataBus_aa0e8b071bd5d432229b0f31ef839c3f3}\label{structDataBus_aa0e8b071bd5d432229b0f31ef839c3f3}} 
Eigen\+::\+Vector3d {\bfseries swing\+\_\+fe\+\_\+pos\+\_\+des\+\_\+W}
\item 
\mbox{\Hypertarget{structDataBus_a286e3619258ff05a05c1c7858caa03fa}\label{structDataBus_a286e3619258ff05a05c1c7858caa03fa}} 
Eigen\+::\+Vector3d {\bfseries swing\+\_\+fe\+\_\+rpy\+\_\+des\+\_\+W}
\item 
\mbox{\Hypertarget{structDataBus_a9a0d5709c566c7421d44f0e8beda62c2}\label{structDataBus_a9a0d5709c566c7421d44f0e8beda62c2}} 
Eigen\+::\+Vector3d {\bfseries stance\+\_\+fe\+\_\+pos\+\_\+cur\+\_\+W}
\item 
\mbox{\Hypertarget{structDataBus_a0afb2e446d4c0caedd5c4e0f97695f34}\label{structDataBus_a0afb2e446d4c0caedd5c4e0f97695f34}} 
Eigen\+::\+Matrix3d {\bfseries stance\+\_\+fe\+\_\+rot\+\_\+cur\+\_\+W}
\item 
\mbox{\Hypertarget{structDataBus_abbf1e7f7fea2191d05ce3252ae52e879}\label{structDataBus_abbf1e7f7fea2191d05ce3252ae52e879}} 
Eigen\+::\+Vector\+Xd {\bfseries wbc\+\_\+delta\+\_\+q\+\_\+final}
\item 
\mbox{\Hypertarget{structDataBus_ade7bf3a259767473423ff44a178b8dc1}\label{structDataBus_ade7bf3a259767473423ff44a178b8dc1}} 
Eigen\+::\+Vector\+Xd {\bfseries wbc\+\_\+dq\+\_\+final}
\item 
\mbox{\Hypertarget{structDataBus_ad65ef145124b588a62c1505a9acf3767}\label{structDataBus_ad65ef145124b588a62c1505a9acf3767}} 
Eigen\+::\+Vector\+Xd {\bfseries wbc\+\_\+ddq\+\_\+final}
\item 
\mbox{\Hypertarget{structDataBus_a65528a5d511f22b2ba35d544460d0926}\label{structDataBus_a65528a5d511f22b2ba35d544460d0926}} 
Eigen\+::\+Vector\+Xd {\bfseries wbc\+\_\+tau\+Joint\+Res}
\item 
\mbox{\Hypertarget{structDataBus_af87720bdc128aaf11f6496200af1a1f9}\label{structDataBus_af87720bdc128aaf11f6496200af1a1f9}} 
Eigen\+::\+Vector\+Xd {\bfseries wbc\+\_\+\+Fr\+Res}
\item 
\mbox{\Hypertarget{structDataBus_a79a32e4d61bd3d1d9026230669cf418f}\label{structDataBus_a79a32e4d61bd3d1d9026230669cf418f}} 
Eigen\+::\+Vector\+Xd {\bfseries Fr\+\_\+ff}
\item 
\mbox{\Hypertarget{structDataBus_a3d8447bc1e464140c5fa6b50a5df2ce0}\label{structDataBus_a3d8447bc1e464140c5fa6b50a5df2ce0}} 
int {\bfseries qp\+\_\+n\+WSR}
\item 
\mbox{\Hypertarget{structDataBus_a0c65dc5887bec780cbb0b8b421e9b478}\label{structDataBus_a0c65dc5887bec780cbb0b8b421e9b478}} 
double {\bfseries qp\+\_\+cpu\+Time}
\item 
\mbox{\Hypertarget{structDataBus_a34bcde8ab49fc624a23771e8972248ed}\label{structDataBus_a34bcde8ab49fc624a23771e8972248ed}} 
int {\bfseries qp\+\_\+status}
\item 
\mbox{\Hypertarget{structDataBus_a10764ddec95c7b01b4d00e75c19e4b48}\label{structDataBus_a10764ddec95c7b01b4d00e75c19e4b48}} 
Eigen\+::\+Vector3d {\bfseries swing\+Start\+Pos\+\_\+W}
\item 
\mbox{\Hypertarget{structDataBus_a3652b688142afa51a891a01bce471566}\label{structDataBus_a3652b688142afa51a891a01bce471566}} 
Eigen\+::\+Vector3d {\bfseries swing\+Des\+Pos\+Cur\+\_\+L}
\item 
\mbox{\Hypertarget{structDataBus_a872d4c01ddcc325893e0593a82a53653}\label{structDataBus_a872d4c01ddcc325893e0593a82a53653}} 
Eigen\+::\+Vector3d {\bfseries stance\+Des\+Pos\+\_\+W}
\item 
\mbox{\Hypertarget{structDataBus_a2dd269f857bfd6dd3928e524b0b41b05}\label{structDataBus_a2dd269f857bfd6dd3928e524b0b41b05}} 
Eigen\+::\+Vector3d {\bfseries pos\+Hip\+\_\+W}
\item 
\mbox{\Hypertarget{structDataBus_a4c5b5784c198db0660db285b308a541f}\label{structDataBus_a4c5b5784c198db0660db285b308a541f}} 
Eigen\+::\+Vector3d {\bfseries des\+V\+\_\+W}
\item 
\mbox{\Hypertarget{structDataBus_ac20879543c05bf3efff2d60a0e3b30b2}\label{structDataBus_ac20879543c05bf3efff2d60a0e3b30b2}} 
double {\bfseries des\+Wz\+\_\+W}
\item 
\mbox{\Hypertarget{structDataBus_ac2e4fb0dfd07ba322070e3bd6b204e33}\label{structDataBus_ac2e4fb0dfd07ba322070e3bd6b204e33}} 
double {\bfseries theta0}
\item 
\mbox{\Hypertarget{structDataBus_a97c72f31ccfbc780ca768b6df47d5b8b}\label{structDataBus_a97c72f31ccfbc780ca768b6df47d5b8b}} 
double {\bfseries width\+\_\+hips}
\item 
\mbox{\Hypertarget{structDataBus_a0872af337cf744df13666d1ca70ddfab}\label{structDataBus_a0872af337cf744df13666d1ca70ddfab}} 
double {\bfseries t\+Swing}
\item 
\mbox{\Hypertarget{structDataBus_a356f98de11378aa6fbdf67c6076a6868}\label{structDataBus_a356f98de11378aa6fbdf67c6076a6868}} 
double {\bfseries phi}
\item 
\mbox{\Hypertarget{structDataBus_a55ce7b18613eaea0e8983d697b816e9a}\label{structDataBus_a55ce7b18613eaea0e8983d697b816e9a}} 
double {\bfseries theta\+Z\+\_\+des} \{0\}
\item 
\mbox{\Hypertarget{structDataBus_af3616a7ffbfec988f239485c4b550a2f}\label{structDataBus_af3616a7ffbfec988f239485c4b550a2f}} 
Leg\+State {\bfseries leg\+State}
\item 
\mbox{\Hypertarget{structDataBus_a4047b0d4ca169264a0388439313b63d9}\label{structDataBus_a4047b0d4ca169264a0388439313b63d9}} 
Leg\+State {\bfseries leg\+State\+Next}
\item 
\mbox{\Hypertarget{structDataBus_ad72d44b623e1a141956ca249cb3dfe58}\label{structDataBus_ad72d44b623e1a141956ca249cb3dfe58}} 
Eigen\+::\+Vector3d {\bfseries base\+\_\+pos\+\_\+stand}
\item 
\mbox{\Hypertarget{structDataBus_acc535c6870632e397ce8ed1d08b06386}\label{structDataBus_acc535c6870632e397ce8ed1d08b06386}} 
Eigen\+::\+Matrix$<$ double, 6, 1 $>$ {\bfseries pfe\+W\+\_\+stand}
\item 
\mbox{\Hypertarget{structDataBus_a9dc54fcc0ad8516e2a92bbc8a8689cfa}\label{structDataBus_a9dc54fcc0ad8516e2a92bbc8a8689cfa}} 
Eigen\+::\+Matrix$<$ double, 6, 1 $>$ {\bfseries pfe\+W0}
\end{DoxyCompactItemize}


\doxysubsection{Detailed Description}


Definition at line 15 of file data\+\_\+bus.\+h.



The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
\item 
data\+\_\+bus.\+h\end{DoxyCompactItemize}
